CN110803218A - Single-power flow stepless steering transmission system of tracked vehicle - Google Patents
Single-power flow stepless steering transmission system of tracked vehicle Download PDFInfo
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- CN110803218A CN110803218A CN201911249050.2A CN201911249050A CN110803218A CN 110803218 A CN110803218 A CN 110803218A CN 201911249050 A CN201911249050 A CN 201911249050A CN 110803218 A CN110803218 A CN 110803218A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
- B62D11/10—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears
- B62D11/12—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears using separate change-speed gearings
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The invention discloses a single-power flow stepless steering transmission system of a tracked vehicle, wherein an engine is sequentially connected with a speed change mechanism and a transmission assembly; the transmission assembly is coaxially connected with the toroidal differential, and two sides of the transmission assembly are respectively connected with the left crawler wheel and the right crawler wheel through the wheel-side speed reducer. The toroidal differential mechanism adopts a traction type semi-ring stepless differential mechanism, has a simple integral structure, and can provide continuous differential ratio. The invention belongs to single power flow transmission, and is characterized in that a speed change mechanism is connected with a toroidal differential in series, and the energy loss is lower; compared with a hydraulic speed change mechanism, a semi-annular stepless differential mechanism has less energy loss and higher efficiency in complex mechanisms such as a planetary speed change mechanism and the like.
Description
Technical Field
The invention relates to a single-power flow stepless steering transmission system of a tracked vehicle, belonging to the technical field of vehicle control.
Background
At present, the tracked vehicle mainly has four tracks, wheel tracks, two tracks and other structural forms, wherein the four tracks mainly realize steering by adopting a steering vehicle body hinge point, and the wheel tracks adopt two forms of steering by adopting a steering front wheel and steering by adopting a steering vehicle body hinge point. And the tracked vehicle running by the two tracks can only realize steering when the rotating speed difference occurs between the left track and the right track. The earliest full-track vehicles had to adopt a method of unilateral braking or power off to steer, and steering efficiency was low. Later on, the tracked vehicle realizes double-power flow transmission by means of electric transmission, hydraulic transmission and the like, and finally can realize stepless steering. The double-power flow transmission stepless steering technology has high efficiency because the power transmission is not interrupted in the steering process, and the technology is continuously popularized in China. However, the double-power flow steering transmission system applied to the tracked vehicle at present is complex in transmission route, large in energy loss and difficult to control.
As shown in fig. 3, a dual-flow transmission mode is adopted, and is driven by a driving motor and a steering motor in a combined manner, which is very similar to a traditional mechanical dual-flow steering transmission system, an internal combustion engine drives a generator to supply power to the driving motor, and a straight-driving motor drives left and right wheels to run straight; when the crawler belt is turned, the turning motor provides turning power, and the speeds of the crawler belts on the two sides are adjusted through the turning transmission shaft.
The specific implementation mode is as follows: the direct drive motor transmits power to the output planet wheel through the speed change mechanism and then through the power input gears (3) at the two ends, and then transmits the power to the two wheels through the output planet carriers (2) at the two sides and the output shaft gear (5). When the steering motor does not work, the direct drive motor directly drives the tractor to move forward like the above direct drive motor, and the tractor is in a linear motion state at the moment. When the steering is needed, a steering motor is used, the steering wheel in the hand controls the steering motor to rotate forwards and backwards, and when the steering motor rotates rightwards in the direction shown in the figure, the left steering bevel gear (4) is driven to rotate downwards; the right steering bevel gear (6) rotates upward. (4) The direction of rotation of the planetary gear train (1) is opposite to that of the direction of rotation of the left and right power input gears (6), and therefore the direction of rotation of the left and right steering control gears engaged with the power input gears is opposite to that of the left and right steering control gears, and the left and right steering control gears are just like the sun gears of the planetary gear train, and if the direction of rotation of the left and right power input gears is also upward, the direction of rotation is consistent with that of the steering control gear (1), and the rotation speed of the output planet carrier (2) is slower than that when the steering control gear (1) is not rotated. However, it is also known that the right hand steering control gear is just reversing the direction of rotation of the right hand power input gear, where the right hand output carrier rotates at a faster rate than it would if the right hand steering control gear were not rotating. Thereby make right side output gear rotational speed be faster than left side output gear rotational speed to realize crawler tractor's steering. The same applies when the steering motor is turned reversely.
The technology has the following technical problems:
(1) the transmission system has a complex planetary gear train structure;
(2) the power transmission route is long, and energy loss is large in the conversion process after multiple times of energy conversion;
(3) according to the double-power-flow transmission mode, when the vehicle turns, power flow is separately transmitted through the direct driving path and the turning path, and the difficulty in realizing the control strategy of the whole vehicle is increased.
Disclosure of Invention
The invention aims to overcome the defects of the double-power flow transmission and hydraulic transmission methods and the like, and provides a pure mechanical single-power flow stepless steering transmission system of a tracked vehicle, which is simple in structure. Because of the single power flow transmission mode, and the traction type semi-annular stepless differential mechanism is adopted by the annular surface type differential mechanism, the energy loss of the mechanical energy of the engine transmitted to the two ends of the crawler belt is lower, and the crawler belt has higher efficiency. The toroidal differential adopts a traction type stepless differential mechanism, is simple to control and can provide continuous differential ratio.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
a single-power flow stepless steering transmission system of a tracked vehicle comprises an engine, a speed change mechanism, a transmission assembly, a toroidal differential, a wheel-side reducer, a left crawler wheel and a right crawler wheel;
the engine is sequentially connected with the speed change structure and the transmission assembly; the transmission assembly is coaxially connected with the toroidal differential, and two sides of the transmission assembly are respectively connected with the left crawler wheel and the right crawler wheel through the wheel-side speed reducer.
The transmission assembly comprises a driving bevel gear, a driven bevel gear, a first gear, a second gear, a left transmission gear, a right transmission gear, a left output gear, a right output gear and a power input shaft; the driving bevel gear is in meshing transmission with the driven bevel gear, the driven bevel gear is coaxial with the first gear, the first gear is in meshing transmission with the second gear, and the second gear is fixedly arranged on the power input shaft; the left transmission gear is in meshing transmission with the left output gear, the right transmission gear is in meshing transmission with the right output gear, and the transmission ratios of the two pairs of gear transmissions are the same; the left output gear is connected with the left crawler wheel through a hub reduction gear, and the right output gear is connected with the right crawler wheel through a hub reduction gear.
The toroidal differential is a traction type semi-toroidal stepless differential mechanism, comprises two output discs, a connecting disc and a plurality of rollers, wherein the two output discs are a left output disc and a right output disc respectively; the two output discs are tightly pressed with each roller, mechanical energy is transmitted by traction force, the central points of the rollers are respectively and uniformly circumferentially hinged on the outer ring of the connecting disc, and the rollers can deflect around the hinged points; the rotary center of the connecting disc is fixedly connected with the power input shaft; the differential mode is to control the deflection of the roller to realize differential speed. When the tracked vehicle runs straight, mechanical energy generated by the engine is transmitted to the speed change mechanism, then is output from the speed change mechanism and is transmitted to the power input shaft through the gear, the power input shaft drives the connecting disc of the annular differential mechanism to rotate, and the rollers on the connecting disc do planetary rotary motion around the rotary axis of the power input shaft. The left and right output discs are driven to rotate by traction force, the output discs drive the transmission gear to rotate, the transmission gear is meshed with the output gear, power is transmitted to the wheel-side speed reducer, and the crawler wheel is driven to rotate. At this time, the rollers in the toroidal differential are in an initial state, that is, the inclination angle between the rollers and the power input shaft is zero, so that the rotating speeds of the left and right output discs are the same, that is, the rotating speeds of the crawler wheels on the two sides are the same, and the crawler is in a straight running state.
In order to realize steering, only the rollers in the toroidal differential mechanism need to deflect a certain angle around a hinged point, so that the rollers and the power input shaft generate an inclination angle, the left output disc and the right output disc have a rotation speed difference, the crawler wheels on the two sides have different rotation speeds, and the steering is realized, and the differential ratio of the left crawler wheel and the right crawler wheel is directly determined by the deflection angle of the rollers. The rollers in the toroidal differential can deflect continuously within a certain range, so that the crawler wheels on two sides have continuous differential speed ratio.
The technical scheme of the invention brings beneficial effects
(1) Simple structure and continuous differential ratio.
The toroidal differential mechanism in the scheme of the invention adopts a traction type semi-toroidal stepless differential mechanism, the whole structure is simple, and the stepless differential mechanism can provide continuous differential ratio.
(2) Low energy loss and high efficiency.
On one hand, the scheme of the invention belongs to single-power flow transmission and is characterized in that a speed change mechanism is connected with a toroidal differential in series, and the energy loss is lower; on the other hand, the toroidal differential mechanism of the scheme of the invention adopts a traction type semi-toroidal stepless differential mechanism, and has less energy loss and higher efficiency compared with complex mechanisms such as a hydraulic speed change mechanism, a planetary speed change mechanism and the like.
Drawings
FIG. 1 is a schematic structural diagram of the present invention in an initial state;
FIG. 2 is a state diagram of the toroidal differential of the present invention during a right turn;
FIG. 3 is a schematic view of a prior art dual flow transmission configuration.
Detailed Description
The specific technical scheme of the invention is described by combining the embodiment.
As shown in fig. 1, the system state of the initial state of the single-power-flow stepless steering transmission system of the tracked vehicle comprises an engine, a speed change mechanism, a transmission assembly, a toroidal differential, a wheel reduction gear, a left side track wheel 16 and a right side track wheel 17;
the engine is sequentially connected with the speed change structure and the transmission assembly; the transmission assembly is coaxially connected with the toroidal differential, and two sides of the transmission assembly are respectively connected with the left crawler wheel 16 and the right crawler wheel 17 through the wheel-side speed reducer;
part of gears of the speed change mechanism are speed reduction gears, and part of gears are speed increasing gears so as to ensure that the output rotating speed is enough to maintain traction transmission.
The transmission assembly comprises a driving bevel gear 8, a driven bevel gear 9, a first gear 10, a second gear 13, a left transmission gear 11, a right transmission gear 21, a left output gear 15, a right output gear 18 and a power input shaft 12; the driving bevel gear 8 and the driven bevel gear 9 are in meshing transmission, the driven bevel gear 9 is coaxial with the first gear 10, the first gear 10 is in meshing transmission with the second gear 13, and the second gear 13 is fixedly arranged on the power input shaft 12; the left transmission gear 11 is in meshed transmission with the left output gear 15, the right transmission gear 21 is in meshed transmission with the right output gear 18, and the transmission ratios of the two pairs of gear transmissions are the same; the left output gear 15 is connected with a left crawler wheel 16 through a hub reduction gear, and the right output gear 18 is connected with a right crawler wheel 17 through a hub reduction gear;
the toroidal differential is a traction type semi-annular stepless differential mechanism, which comprises two output discs, namely a left output disc 14 and a right output disc 19, and further comprises a connecting disc 22 and a plurality of rollers, wherein in the embodiment, two rollers are taken as an example and respectively comprise a first roller 20 and a second roller 23, the left output disc 14 is coaxially matched with the left transmission gear 11, the right output disc 19 is coaxially matched with the right transmission gear 21, and the rotating speed of each output disc is the same as that of the corresponding transmission gear; the two output discs are both pressed with the first roller 20 and the second roller 23 and drive mechanical energy by traction force, a central point A of the first roller 20 and a central point B of the second roller 23 are respectively hinged with two ends of the connecting disc 22, and the two rollers can deflect around the central points respectively; the rotary center of the connecting disc 22 is fixedly connected with the power input shaft 12; the differential mode is to control the deflection of the roller to realize differential speed.
In the initial state, the engine generates mechanical energy, and the mechanical energy reaches the power input shaft 12 through transmission of the speed change mechanism, the drive bevel gear 8, the driven bevel gear 9, the first gear 10 and the second gear 13, so that the power input shaft 12 rotates. The power input shaft 12 is a through shaft, and is matched with the connecting disc 22 to drive the connecting disc 22 to rotate. The first and second rollers 20, 23 hinged on the connecting disc 22 perform planetary rotation movement, and the left output disc 14 and the right output disc 19 rotate under the action of traction force. The left output disc 14 outputs power to the hub reduction gear by driving the meshing motion of the left transmission gear 11 and the left output gear 15, and then the left crawler wheel 16 rotates. The right side drives the same. At this time, since the first and second rollers 20 and 23 are parallel to the power input shaft 12, the rotation speeds of the left and right output discs 14 and 19 are equal to each other, and the rotation speeds of the left and right track wheels 16 and 17 are equal to each other, and at this time, the crawler vehicle travels straight.
FIG. 2 shows a state diagram of a toroidal differential in a right turn according to the present invention. The mechanism is a traction type semi-toroidal continuously variable differential mechanism in which the first roller 20 is deflected about a central point a to form an inclination with the power input shaft 12, and the deflected state of the second roller 23 is symmetrical with the first roller 20. At this time, the power transmission path is the same as that in the straight-going state of fig. 2, the power of the engine is transmitted to the power input shaft 12 to drive the first roller 20 and the second roller 23 to rotate, the first roller 20 and the second roller 23 respectively drive the left output disc 14 and the right output disc 19 through traction movement, and the rotation speed of the left output disc 14 is higher than that of the right output disc 19 due to the counterclockwise inclination of the rollers, so that the rotation speed of the left track wheel 16 is higher than that of the right track wheel 17, and the right turning of the tracked vehicle is realized. Left-hand turns of the tracked vehicle can be achieved similarly when the direction of inclination of the rollers is reversed.
Claims (4)
1. A single-power flow stepless steering transmission system of a tracked vehicle is characterized by comprising an engine, a speed change mechanism, a transmission assembly, a toroidal differential, a wheel-side reducer, a left crawler wheel (16) and a right crawler wheel (17);
the engine is sequentially connected with the speed change structure and the transmission assembly; the transmission assembly is coaxially connected with the toroidal differential, and two sides of the transmission assembly are respectively connected with the left crawler wheel (16) and the right crawler wheel (17) through the wheel-side speed reducer.
2. A single power flow stepless steering transmission system for a tracked vehicle as claimed in claim 1, wherein said transmission assembly comprises a driving bevel gear (8), a driven bevel gear (9), a first gear (10), a second gear (13), a left transmission gear (11), a right transmission gear (21), a left output gear (15), a right output gear (18) and a power input shaft (12); the driving bevel gear (8) is in meshed transmission with the driven bevel gear (9), the driven bevel gear (9) is coaxial with the first gear (10), the first gear (10) is in meshed transmission with the second gear (13), and the second gear (13) is installed on the power input shaft (12); the left transmission gear (11) is in meshed transmission with the left output gear (15), the right transmission gear (21) is in meshed transmission with the right output gear (18), and the transmission ratios of the two pairs of gear transmissions are the same; the left output gear (15) is connected with the left crawler wheel (16) through a hub reduction gear, and the right output gear (18) is connected with the right crawler wheel (17) through a hub reduction gear.
3. A single power flow stepless steering transmission system for a tracked vehicle as claimed in claim 2, wherein the toroidal differential is a traction type semi-toroidal stepless differential mechanism, which comprises two output discs, namely a left output disc (14) and a right output disc (19), a connecting disc (22) and a plurality of rollers, wherein the left output disc (14) is coaxially matched with the left transmission gear (11), the right output disc (19) is coaxially matched with the right transmission gear (21), and the two output discs have the same rotating speed as the corresponding transmission gears; the two output discs are tightly pressed with each roller, mechanical energy is transmitted by traction force, the central points of the rollers are respectively and uniformly and circumferentially hinged on the outer ring of the connecting disc (22), and the rollers can deflect around the hinged points; the rotation center of the connecting disc (22) is fixedly connected with the power input shaft (12); the differential mode is to control the deflection of the roller to realize differential speed.
4. A single power flow continuously variable steering transmission system as claimed in claim 1, wherein some gears of said transmission are speed reduction gears and some gears are speed up gears.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911249050.2A CN110803218B (en) | 2019-12-09 | 2019-12-09 | Single-power flow stepless steering transmission system of tracked vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911249050.2A CN110803218B (en) | 2019-12-09 | 2019-12-09 | Single-power flow stepless steering transmission system of tracked vehicle |
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| CN110803218A true CN110803218A (en) | 2020-02-18 |
| CN110803218B CN110803218B (en) | 2021-06-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113002325A (en) * | 2021-02-23 | 2021-06-22 | 潍柴动力股份有限公司 | Control method and device for double-side motor-driven vehicle |
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| US1856383A (en) * | 1927-12-23 | 1932-05-03 | Gerdes Adolf Friedrich | Friction-wheel differential gear |
| US3440895A (en) * | 1966-09-12 | 1969-04-29 | Nat Res Dev | Toroidal race transmission units |
| US4344336A (en) * | 1979-07-23 | 1982-08-17 | Ford Motor Company | Differential traction drive with extreme overall torque ratios for use in a gas turbine engine driveline |
| US6287232B1 (en) * | 1998-12-15 | 2001-09-11 | Nissan Motor Co., Ltd. | Non-finite speed ratio continuously variable transmission device |
| DE10040126A1 (en) * | 2000-08-17 | 2002-02-28 | Daimler Chrysler Ag | Vehicle drive system contains toroidal variator, allowing input shaft to be connected via differential drive with its output shaft, and hollow shaft containing another shaft via which input shaft can be connected directly with differential |
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| JP2005164014A (en) * | 2003-12-05 | 2005-06-23 | Nsk Ltd | Toroidal type continuously variable transmission |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113002325A (en) * | 2021-02-23 | 2021-06-22 | 潍柴动力股份有限公司 | Control method and device for double-side motor-driven vehicle |
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| CN110803218B (en) | 2021-06-11 |
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